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Fix _find_single_motor

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Simon Alibert
2025-04-18 09:18:56 +02:00
parent 702749b7d3
commit 29633865c7
2 changed files with 10 additions and 9 deletions
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2
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -155,7 +155,7 @@ class DynamixelMotorsBus(MotorsBus):
if found_model != expected_model_nb:
raise RuntimeError(
f"Found one motor on {baudrate=} with id={found_id} but it has a "
f"model number '{found_model}' different than the one expected: '{expected_model_nb}' "
f"model number '{found_model}' different than the one expected: '{expected_model_nb}'. "
f"Make sure you are connected only connected to the '{motor}' motor (model '{model}')."
)
return baudrate, found_id

17
lerobot/common/motors/feetech/feetech.py
View File

@@ -185,7 +185,7 @@ class FeetechMotorsBus(MotorsBus):
if found_model != expected_model_nb:
raise RuntimeError(
f"Found one motor on {baudrate=} with id={found_id} but it has a "
f"model number '{found_model}' different than the one expected: '{expected_model_nb}' "
f"model number '{found_model}' different than the one expected: '{expected_model_nb}'. "
f"Make sure you are connected only connected to the '{motor}' motor (model '{model}')."
)
return baudrate, found_id
@@ -205,13 +205,14 @@ class FeetechMotorsBus(MotorsBus):
self.set_baudrate(baudrate)
for id_ in range(scs.MAX_ID + 1):
found_model = self.ping(id_)
if found_model is not None and found_model != expected_model_nb:
raise RuntimeError(
f"Found one motor on {baudrate=} with id={id_} but it has a "
f"model number '{found_model}' different than the one expected: '{expected_model_nb}' "
f"Make sure you are connected only connected to the '{motor}' motor (model '{model}')."
)
return baudrate, id_
if found_model is not None:
if found_model != expected_model_nb:
raise RuntimeError(
f"Found one motor on {baudrate=} with id={id_} but it has a "
f"model number '{found_model}' different than the one expected: '{expected_model_nb}'. "
f"Make sure you are connected only connected to the '{motor}' motor (model '{model}')."
)
return baudrate, id_
raise RuntimeError(f"Motor '{motor}' (model '{model}') was not found. Make sure it is connected.")